Lecture 17 - Detection and Pose Estimation


In a race, there are usually multiple players. Now that we know how to map and localize in our environment and path plan to a goal point, how do we take into account another moving vehicle? This lecture goes over a vehicle tracking and prediciton framework that can be used to find the pose of and obstacle vheicle and predict the obstacle vehicle’s probable poses in the future.

Topics Covered:
  • Single view geometry

  • Pose estimation

  • Homography

  • Trajectory prediction

  • Using April tags


Links to additional resources: